Team4388/2019-Hit-or-Miss
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Update Drive.java

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Added method turnToAngle
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nathanrsxtn
2019-03-07 15:31:07 -08:00
parent cfcbf2ce4a
commit 96d59feb5d
1 changed files with 3 additions and 0 deletions
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2019robot/src/main/java/org/usfirst/frc4388/robot/subsystems/Drive.java
+3
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@@ -910,5 +910,8 @@ public class Drive extends Subsystem implements ControlLoopable
}
SmartDashboard.putNumber("Update Period (ms)", lastControlLoopUpdatePeriod * 1000.0);
}
}
public void turnToAngle(double targetAngle, double maxError, double maxPrevError, MPSoftwareTurnType turnType) {
setRelativeTurnPID(targetAngle - getGyroAngleDeg(), maxError, maxPrevError, turnType);
}
}